CN114928698B - Image distortion correction device and method - Google Patents
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/80—Camera processing pipelines; Components thereof
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- G06T3/00—Geometric image transformations in the plane of the image
- G06T3/04—Context-preserving transformations, e.g. by using an importance map
- G06T3/047—Fisheye or wide-angle transformations
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- G—PHYSICS
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- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T3/00—Geometric image transformations in the plane of the image
- G06T3/40—Scaling of whole images or parts thereof, e.g. expanding or contracting
- G06T3/4007—Scaling of whole images or parts thereof, e.g. expanding or contracting based on interpolation, e.g. bilinear interpolation
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- H04N5/00—Details of television systems
- H04N5/222—Studio circuitry; Studio devices; Studio equipment
- H04N5/262—Studio circuits, e.g. for mixing, switching-over, change of character of image, other special effects ; Cameras specially adapted for the electronic generation of special effects
- H04N5/2628—Alteration of picture size, shape, position or orientation, e.g. zooming, rotation, rolling, perspective, translation
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- G06T2207/30248—Vehicle exterior or interior
- G06T2207/30252—Vehicle exterior; Vicinity of vehicle
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Abstract
The present invention relates to an image distortion correction device and method for correcting distortion of an image having a plurality of image division units, the image distortion correction device comprising: an image center setting unit that sets a center image division unit among the plurality of image division units; a correction rate setting unit that sets a variable distortion correction rate such that the plurality of image division units are corrected at mutually different rates with reference to a center image division unit; and a correction unit configured to correct the plurality of image division units based on the variable distortion correction rate set by the correction rate setting unit.
Description
The present application is a divisional application of chinese patent application having application number 201710465975.5, application date 2017, 6, 19, and entitled "image distortion correction apparatus and method", the entire contents of which are incorporated herein by reference.
Technical Field
The present invention relates to an image distortion correction technique, and more particularly to a technique for correcting image distortion by applying a variable distortion correction rate to each pixel (pixel).
Background
An image lens (lens) distortion correction technique is a technique for correcting a distorted image of a lens having a large angle of view, and is often used in the field of endoscopes or automobiles.
In particular, in the field of automobiles, there are a method of confirming the surroundings of an automobile by naked eyes and a method of confirming by a side mirror (side mirror). However, depending on the type of vehicle, if a vehicle is said to be able to easily confirm the surroundings by the naked eye or a side mirror, there is a vehicle in which the surroundings cannot be easily confirmed. In particular, large vehicles have a large number of areas that cannot be confirmed by the naked eye or by a side mirror, as compared with small vehicles.
Accordingly, recently, a technique has been developed in which a rear view camera (camera) mounted on a vehicle or cameras mounted on the vehicle in the front-rear-left-right direction are used to capture the surrounding environment, and the captured images are combined to output the surrounding image of the vehicle. As such, cameras provided in the front-rear left-right direction of a vehicle mainly use wide-angle lenses having a large angle of view, and fish-eye lenses (fish-eye lenses) that use ultra-wide-angle lenses having an angle of view greater than 180 ° are also used. However, as with the wide-angle lens and the fisheye lens, an image captured by a lens having a large angle of view provides a wide angle of view, and the refractive index increases as the image approaches the edge region of the image, thereby displaying an image having serious distortion. Therefore, as with the wide-angle lens and the fisheye lens, the distortion of the image captured by the lens with a large angle of view needs a method of correcting the distortion.
Fig. 1 is a diagram showing a process of correcting an image by using a mathematical model in a conventional image distortion correction apparatus.
Referring to fig. 1, a conventional image distortion correction apparatus obtains pixel coordinates obtained by substituting pixel coordinates of a distorted image 110 into a set mathematical expression, and then obtains an image 120 obtained by arranging the pixel coordinates.
This method requires calculation of all pixels, and thus has problems in that implementation complexity is high and a large-capacity memory (memory) is required. Further, there is a problem in that the pedestrian 111 existing in the distorted image 110 disappears in the corrected image 120 due to the correction performed by applying the fixed distortion correction rate, thereby generating a dead angle area, and the corrected image generates a sense of distance error that looks closer than the actual distance.
Fig. 2 is a diagram showing a procedure of correcting an image by using a lock-up table in the conventional image distortion correction apparatus.
Referring to fig. 2, the conventional image distortion correction apparatus first applies a correction algorithm (Calibration Algorithm) to an input image to obtain changed pixel coordinates of the input image, and generates an input table (table) 210. And then, obtaining a result coordinate value which moves when all pixels are reconstructed. Thereafter, a correction table 230 is generated and stored by the result coordinate values. Thereafter, the input table 210 is corresponded to the correction table 230, thereby generating the reconstructed output table 220. Then, the image distortion is corrected by the output table 220.
Since this method also requires storing all of the pixel values before and after correction, there is a problem in that a large-capacity memory is required. Further, since the image is enlarged to be larger than the conventional image size in order to correct the distortion, there is a problem in that dead space areas occur and the corrected image has a sense of distance error that looks closer than the actual distance.
[ Prior Art literature ]
[ Patent literature ]
(Patent document 1) Korean laid-open patent publication No. 10-2004-0022348
Disclosure of Invention
Technical problem to be solved
The purpose of the present invention is to apply a variable distortion correction rate to correct a distorted image, thereby minimizing dead angle areas generated when correcting the distorted image.
Further, the present invention aims to apply a variable distortion correction rate to correct a distorted image, thereby minimizing a sense of distance error generated when correcting the distorted image.
Means for solving the technical problems
The present invention provides an image distortion correction device for correcting distortion of an image having a plurality of image division units, the image distortion correction device comprising: an image center setting unit that sets a center image division unit among the plurality of image division units; a correction rate setting unit that sets a variable distortion correction rate such that the plurality of image division units are corrected at mutually different rates with respect to the center image division unit; and a correction unit configured to correct the plurality of image division units based on the variable distortion correction rate set by the correction rate setting unit.
The variable distortion correction rate corresponding to the plurality of image division units may be expressed as a polynomial function for a distance from the center image division unit to the corresponding image division unit, and the correction rate setting unit may set a correction rate function coefficient of the polynomial function in order to set the variable distortion correction rate.
The correction unit may correct the plurality of image division units based on the variable distortion correction rate, so that the plurality of image division units are each shifted by a variable rate amount and have an image correction value based on the shift conversion.
The image distortion correction device may further include an interpolation unit that inserts an interpolation image division unit into a space generated by the correction unit for correcting the plurality of image division units based on the variable distortion correction rate.
The interpolation unit may be configured to divide the center image division unit into a horizontal direction and a vertical direction, and to insert the center image division unit.
The image correction value of the interpolation image division unit may be set based on the image correction value of the adjacent image division unit.
The image distortion correction device may further include an image input unit that inputs an image having the plurality of image division units.
The image distortion correction device may further include an image output unit that outputs the image interpolated by the interpolation unit.
The present invention provides an image distortion correction method for correcting distortion of an image having a plurality of image discrimination units, the method comprising: an image center setting step of setting a center image division unit among the plurality of image division units; a correction rate setting step of setting a variable distortion correction rate such that the plurality of image division units are corrected at mutually different rates with reference to the center image division unit; and a correction step of correcting the plurality of image division units according to the variable distortion correction rate set in the correction rate setting step.
Further, the variable distortion correction rate corresponding to the plurality of image division units may be expressed as a polynomial function for a distance from the center image division unit to the corresponding image division unit, and the correction rate setting step may include the steps of: in order to set the variable distortion correction rate, correction rate function coefficients of the polynomial function are set.
In the correction step, the plurality of image division units may be corrected based on the variable skew correction rate, so that the plurality of image division units are each shifted by a variable rate amount and have an image correction value based on the shift conversion.
The image distortion correction method may further include an interpolation step of inserting an interpolation image division unit into a space generated by correcting the plurality of image division units in the correction step according to the variable distortion correction rate.
In addition, the interpolation step may be performed by dividing the center image division unit into a horizontal direction and a vertical direction, and inserting the interpolation image division unit.
The image correction value of the interpolation image division unit may be set based on the image correction value of the adjacent image division unit.
ADVANTAGEOUS EFFECTS OF INVENTION
The invention corrects the distorted image by applying variable distortion correction rate, and has the effect of minimizing dead angle area generated when correcting the distorted image.
In addition, the present invention corrects a distorted image by applying a variable distortion correction rate, and has the effect of minimizing a sense of distance error generated when correcting the distorted image.
Drawings
Fig. 1 is a diagram showing a process of correcting an image by a mathematical model in a conventional image distortion correction apparatus.
Fig. 2 is a diagram showing a procedure of correcting an image by a lock-up table in a general image distortion correction apparatus.
Fig. 3 is a block diagram showing an image distortion correction apparatus according to an embodiment of the present invention.
Fig. 4 is an explanatory diagram showing a procedure of applying a variable distortion correction rate to an image distortion correction apparatus according to an embodiment of the present invention.
Fig. 5 is an explanatory diagram schematically showing a plurality of image division units of an input image.
Fig. 6 is an explanatory diagram showing a procedure of correcting and interpolating an image discrimination unit in the horizontal direction in the image distortion correction apparatus according to the embodiment of the present invention.
Fig. 7 is an explanatory diagram showing a process of correcting and interpolating an image discrimination unit in the vertical direction in the image distortion correction apparatus of one embodiment of the present invention.
Fig. 8 is an explanatory diagram showing correction of a distorted image by the image distortion correction device according to the embodiment of the present invention.
Fig. 9 is a flowchart sequentially showing an image distortion correction method of the image distortion correction apparatus according to an embodiment of the present invention.
Description of the reference numerals
300: An image distortion correction device; 310: an image input unit; 320: an image center setting unit; 330: a correction rate setting unit; 340: a correction unit; 350: an interpolation unit; 360: and an image output unit.
Detailed Description
Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. First, when reference numerals are given to constituent elements of the respective drawings, it should be noted that the same reference numerals are given as much as possible to the same constituent elements even though they appear in different drawings. In the description of the present invention, if it is determined that the detailed description of the known components and functions may obscure the gist of the present invention, the detailed description thereof will be omitted. Although the preferred embodiments of the present invention will be described in detail below, the technical concept of the present invention is not limited thereto or thereto, and various embodiments may be modified by those skilled in the art.
An image distortion correction apparatus according to an embodiment of the present invention will be described below with reference to fig. 3 to 8.
Fig. 3 is a block diagram showing an image distortion correction apparatus according to an embodiment of the present invention.
Referring to fig. 3, an image distortion correction apparatus 300 according to an embodiment of the present invention includes: the image input unit 310, the image center setting unit 320, the correction rate setting unit 330, the correction unit 340, the interpolation unit 350, and the image output unit 360.
The image input section 310 may be implemented to obtain an image photographed from photographing equipment. The image center setting unit 320 may be implemented to set a center image division unit among a plurality of image division units. The correction rate setting unit 330 may be configured to set the variable distortion correction rate so that the plurality of image division units are corrected at different rates from each other. The correction unit 340 may be configured to correct the plurality of image division units according to the variable skew correction rate set by the correction rate setting unit 330. The interpolation unit 350 may be configured to insert the interpolation image division unit into the generated space by correcting the plurality of image division units by the correction unit 340 based on the variable distortion correction rate. The image output unit 360 may be configured to output the image interpolated by the interpolation unit 350.
The image input unit 310 obtains an input of an image captured by the capturing device. The photographing equipment includes all devices capable of photographing an image like an image capturing device, CCTV, etc. In particular, the photographing apparatus may include cameras mounted in front, rear, left, and right of the vehicle. At this time, the image input from the photographing apparatus to the image input part 310 may include a photograph or a video. The image input unit 310 inputs a plurality of images. The image distinguishing unit means a unit enabling the images to be distinguished according to a certain size. For example, the image division unit may mean a pixel.
The image center setting unit 320 sets a center image division unit among the plurality of image division units. The image center setting unit 320 may set an image division unit located at the most center of the images in the horizontal direction and the vertical direction with respect to each other as the center image division unit. The image center setting unit 320 may set an image division unit located at a portion of the image where distortion is most serious as the center image division unit. In addition, the image center setting unit 320 may set the center image division unit in various ways.
The correction rate setting unit 330 may set the variable distortion correction rate so that the plurality of image division units are corrected at different rates. In this case, the correction rate setting unit 330 may set the variable distortion correction rate such that the plurality of image division units are corrected at different rates from each other with reference to the center image division unit set by the image center setting unit 320. For example, the variable skew correction rate can be set to the following expression.
[ Math 1]
1+k1r2+k2r4+k3r6+k4r1+k2r3+k3r5
In this case, r means a distance from the center image discrimination unit to the corrected image discrimination unit when no distortion is assumed in the image, and k1, k2, k3, and k4 mean coefficients of distortion rate functions, that is, distortion coefficients, respectively. The correction rate setting unit 330 may set the distortion coefficient according to lens characteristics, camera mounting errors, camera monitoring areas, and the like. The variable skew correction rate represented by equation 1 is merely exemplary, and the correction rate setting unit 330 may set the variable skew correction rate differently from equation 1. Hereinafter, a process of applying a variable distortion correction rate to an image will be schematically described with reference to fig. 4.
Fig. 4 is an explanatory diagram showing a procedure of applying a variable distortion correction rate to an image distortion correction apparatus according to an embodiment of the present invention. At this time, (a) and (b) of fig. 4 show images to which distortion correction rates are applied to the following images: the left-most partial pre-correction image, the middle partial post-correction image, and the right-most partial pre-correction image.
Fig. 4 (a) shows a process of applying a fixed distortion correction rate to an image. In fig. 4 (a), referring to the portion located on the rightmost side, it is confirmed that the image continues to be enlarged as the unit of division from the center image approaches the peripheral side. Therefore, there is a problem in that, in the corrected image, the image located at the peripheral portion of the image before correction is removed.
Fig. 4 (b) shows a process of applying the variable skew correction rate. In fig. 4 (b), referring to the portion located on the rightmost side, it can be confirmed that the image is repeatedly enlarged and reduced as the unit of division from the center image is located on the outer peripheral side. Therefore, there is a problem in that, in the corrected image, the image located at the peripheral portion of the image before correction is retained.
The correction unit 340 corrects the plurality of image division units according to the variable distortion correction rate set by the correction rate setting unit 330. At this time, the correction unit 340 can correct the plurality of image division units by dividing the center image division unit into a horizontal direction and a vertical direction. The correction unit 340 corrects the plurality of image division units based on the variable skew correction rate, so that the plurality of image division units are respectively moved by the variable rate, and the image correction value for each image division unit is changed according to the movement. At this time, as for the image correction value, when the image division unit is a pixel, it means a pixel value. In this regard, description will be made below with reference to fig. 5 to 7.
The interpolation unit 350 performs correction on the plurality of image division units by the correction unit 340 according to the variable distortion correction rate, and inserts the interpolation image division units into the generated space. The interpolation unit 350 may be divided in the horizontal direction and the vertical direction with the center image division unit as a reference, and may insert the interpolation image division unit. At this time, the image correction value of the interpolation image division unit is set based on the image correction value of the adjacent image division unit. At this time, as described above, regarding the image correction value, when the image division unit is a pixel, it means a pixel value. Hereinafter, a process of correcting and interpolating the plurality of image division units will be described with reference to fig. 5 to 7.
In the following, the description will be given on the assumption that the image division unit is a pixel.
Fig. 5 is an explanatory diagram schematically showing a plurality of image division units of an input image.
Referring to fig. 5, it can be confirmed that the image 501 inputted through the image input unit 310 includes a plurality of image division units. In this case, for convenience of explanation, it is assumed that the center image division unit 502 is the most middle image division unit of the image 501 inputted through the image input unit 310. It is assumed that the value 502 indicated by the center image dividing unit 502 is the position of the image dividing unit, the value 50 is the pixel value of the center image dividing unit 502, and other image dividing units are the same.
Fig. 6 is an explanatory diagram showing a procedure of correcting and interpolating an image discrimination unit in the horizontal direction in the image distortion correction apparatus according to the embodiment of the present invention.
The correction unit 340 corrects the image division units located on the left and right sides based on the center image division unit 502 based on the variable distortion correction rate, and thereby the image division units located on the left and right sides are respectively shifted by a variable ratio amount based on the center image division unit 502 and the corresponding pixel values are converted.
Referring to fig. 6, the image division unit 515 positioned at the first right side of the pre-correction center image division unit 502 is moved rightward by a variable ratio 610 amount, thereby being moved to the position of the image division unit 516 positioned at the second right side of the pre-correction center image division unit 502. At this time, the pixel value of the image division unit 515 located at the first right side of the center image division unit 502 before correction is changed from 60 to 70. In other words, the image division unit 515 located at the first right side of the pre-correction center image division unit 502 moves by a variable ratio 610 and correspondingly transforms the pixel value so as not to have a pre-correction value, so that the actual result is the image division unit regeneration.
Further, the image division unit 516 located at the second right side of the pre-correction center image division unit 502 is moved rightward by the variable ratio 620 amount, thereby being moved to the position of the image division unit 519 located at the fifth right side of the pre-correction center image division unit 502. At this time, the pixel value of the image division unit 516 located at the second right side of the center image division unit 502 before correction is changed from 70 to 100. In other words, the image division unit 516 located at the second right side of the center-before-correction image division unit 502 is shifted by the variable ratio 620 amount and does not have a value before correction with its corresponding pixel value, so that the actual result is the image division unit regeneration.
In the above example, only the following procedure is described: the image division units on the left and right sides are moved and converted to the corresponding pixel values according to the increased ratio based on the center image division unit 502, but it is needless to say that the image division units on the left and right sides are moved and converted to the corresponding pixel values according to the reduced ratio based on the center image division unit 502 because the variable ratio is moved and the resolution is converted.
In the above example, the description has been made of only the image division unit 515 positioned on the first right side of the center before correction image division unit 502 and the image division unit 516 positioned on the second right side of the center before correction image division unit 502, but the same applies to the remaining image division units positioned on the left and right sides with respect to the center image division unit 502.
Then, the interpolation unit 350 can insert the interpolation image division units 531, 532, 533 into the generated space, since the image division units located on the left and right sides are moved by the variable ratio amounts, respectively, with respect to the center image division unit 502. At this time, the pixel value of the interpolation image division unit is set according to the pixel value of the adjacent image division unit. This means that the pixel value of the interpolation image division unit is set to have a value that minimizes image distortion in consideration of the pixel values of the adjacent image division units. Specifically, the pixel value of the interpolation image division unit may be set to an arbitrary value that has the greatest influence of the pixel value of the image division unit that is most adjacent to the interpolation image division unit.
For example, the interpolation image division unit 531 interposed between the center image division unit 502 and the image division unit 515 located at the first right side of the corrected center image division unit 502 is greatly affected by the following pixel values, and thus has an arbitrary value of 62: the pixel value 50 of the center image division unit 502 and the pixel value 70 of the image division unit 515 located at the first right side of the corrected center image division unit 502.
In addition, the interpolation image discrimination units 532, 533 interposed between the image discrimination unit 515 located at the first right side of the corrected center image discrimination unit 502 and the image discrimination unit 516 located at the second right side of the corrected center image discrimination unit 502 are most affected by the pixel values as follows, so as to have arbitrary values 83 and 94, respectively: the pixel value 70 of the image division unit 515 located at the first right side of the corrected center image division unit 502 and the pixel value 100 of the image division unit 516 located at the second right side of the corrected center image division unit 502.
At this time, in the above example, although only the pixel values included in the interpolation image distinguishing units 531, 532, 533 are exemplified as having values between adjacent image distinguishing unit pixel values, since any value for minimizing distortion of an image is included, values other than the values between adjacent image distinguishing unit pixel values may be included.
Fig. 7 is an explanatory diagram showing a process of correcting and interpolating an image discrimination unit in the vertical direction in the image distortion correction apparatus of one embodiment of the present invention.
The correction unit 340 corrects the image division units located at the upper and lower sides with respect to the center image division unit 502 based on the variable skew correction rate, so that the image division units located at the upper and lower sides are respectively moved by the variable rate amount with respect to the center image division unit 502, and the pixel values corresponding to the image division units are converted. A specific description thereof has been made with reference to fig. 6, and will be omitted.
Then, the interpolation unit 350 can insert the interpolation image division units 531, 532, 533 into the generated space by moving the image division units located on the upper side and the lower side with respect to the center image division unit 502 by the variable ratio amounts, respectively. At this time, the pixel value of the interpolation image division unit may be set according to the pixel value of the adjacent image division unit. A specific description thereof has been made with reference to fig. 6, and will be omitted.
Hereinafter, advantages of correcting a distorted image by the image distortion correction device according to an embodiment of the present invention will be described with reference to fig. 8.
Fig. 8 is an explanatory diagram showing correction of a distorted image by the image distortion correction device according to the embodiment of the present invention. In this case, fig. 8 (a) is a diagram showing an image before correction, fig. 8 (b) is a diagram showing an image corrected by a conventional image distortion correction device, and fig. 8 (c) is a diagram showing an image corrected by an image distortion correction device according to an embodiment of the present invention.
Referring to fig. 8 (b), a conventional image distortion correction apparatus corrects an image according to a fixed distortion correction rate, and thus it can be confirmed that a distortion part in an image before correction is removed. Further, it was confirmed that the distance sensing error was also generated by correcting the distance sensing error to be seemingly closer than the actual distance.
However, referring to fig. 8 (c), the image distortion correction apparatus of the present invention corrects an image based on a variable distortion correction rate, and can confirm that a distortion portion in the pre-correction image remains. Further, it can be confirmed that the correction is made to look similar to the actual distance, thereby minimizing the sense of distance error. In other words, if the image is corrected by the image distortion correction apparatus of the present invention, the effect is that dead angle area is minimized and the near-far error is minimized.
Hereinafter, an image distortion correction method according to an embodiment of the present invention will be described with reference to fig. 9. In this case, the overlapping portions of the descriptions with those described with reference to fig. 3 to 8 are omitted.
Fig. 9 is a flowchart sequentially showing an image distortion correction method of the image distortion correction apparatus according to an embodiment of the present invention.
Referring to fig. 9, first, the image input unit 310 receives an input of an image having a plurality of image division units (S101).
Then, the image center setting unit 320 sets a center image division unit among the plurality of image division units (S103).
Then, the correction rate setting unit 330 sets the variable distortion correction rate such that the plurality of image division units are corrected at mutually different rates with respect to the center image division unit (S105).
Then, the correction unit 340 corrects the plurality of image division units based on the variable distortion correction rate (S107).
Then, the interpolation unit 350 corrects the plurality of image division units based on the variable distortion correction rate, and inserts the interpolation image division units into the generated space (S109).
Then, the image interpolated in step S109 is outputted from the image output unit 360 (S111).
The above description is merely illustrative of the technical idea of the present invention, and a person having ordinary skill in the art to which the present invention pertains can make various modifications, alterations, and substitutions without departing from the essential characteristics of the present invention. Accordingly, the embodiments and drawings disclosed in the present invention are not intended to limit the technical concept of the present invention, but are intended to be illustrative, and the scope of the technical concept of the present invention is not limited by the embodiments and drawings. The scope of the present invention should be construed by the appended claims, and all technical ideas within the scope equivalent thereto should be construed to be included in the scope of the claims.
Claims (4)
1. An image distortion correction device for correcting distortion of an image having a plurality of image division units, the image distortion correction device comprising:
an image center setting unit that sets a center image division unit among the plurality of image division units;
a correction rate setting unit that sets a variable distortion correction rate such that the plurality of image division units are corrected at mutually different rates with respect to the center image division unit; and
A correction unit configured to correct the plurality of image division units based on the variable distortion correction rate set by the correction rate setting unit, and
Wherein the center image distinguishing unit is the image distinguishing unit positioned at the most center of the relative horizontal direction and the vertical direction of the image,
The correction unit corrects the plurality of image division units based on the variable skew correction rate so that the plurality of image division units are respectively shifted by a variable rate amount and have image correction values based on shift conversion,
The image distortion correction apparatus further includes an interpolation unit that inserts an interpolation image division unit into a space generated by the correction unit for correcting the plurality of image division units based on the variable distortion correction rate,
The interpolation unit divides the center image division unit into a horizontal direction and a vertical direction, thereby inserting the interpolation image division unit;
The variable distortion correction rate corresponding to the plurality of image discrimination units is expressed as a polynomial function 1+k1r2+k2r4+k3r6+k4r1+k2r3+k3r5, for a distance r from the center image discrimination unit to the corresponding image discrimination unit, k1, k2, k3, k4 respectively represent distortion coefficients of the polynomial function, the distortion coefficients being set according to at least one of lens characteristics, camera mounting errors, camera monitoring areas,
In order to set the variable distortion correction rate, the correction rate setting unit sets a correction rate function coefficient of the polynomial function;
The image correction value of the interpolation image division unit is set according to the image correction value of the adjacent image division unit, and the image correction value of the interpolation image division unit has a value other than the value between the image correction values of the adjacent image division units.
2. The image distortion correction apparatus according to claim 1, wherein,
The image distortion correction device further includes an image input unit that inputs an image having the plurality of image division units.
3. The image distortion correction apparatus according to claim 1, wherein,
The image distortion correction device further includes an image output unit that outputs the image interpolated by the interpolation unit.
4. An image distortion correction method for correcting distortion of an image having a plurality of image discrimination units, the method comprising:
an image center setting step of setting a center image division unit among the plurality of image division units;
a correction rate setting step of setting a variable distortion correction rate such that the plurality of image division units are corrected at mutually different rates with reference to the center image division unit; and
A correction step of correcting the plurality of image division units in accordance with the variable distortion correction rate set in the correction rate setting step, and
Wherein the center image distinguishing unit is the image distinguishing unit positioned at the most center of the relative horizontal direction and the vertical direction of the image,
In the correcting step, the plurality of image discrimination units are corrected in accordance with the variable skew correction rate so that the plurality of image discrimination units are respectively moved by a variable rate amount and have image correction values based on a movement transformation,
The image distortion correction method further includes an interpolation step of inserting an interpolation image division unit into a space generated by correcting the plurality of image division units in the correction step according to the variable distortion correction rate,
The interpolation step is to divide the center image distinguishing unit into a horizontal direction and a vertical direction by taking the center image distinguishing unit as a reference, so as to insert the interpolation image distinguishing unit;
The variable distortion correction rate corresponding to the plurality of image discrimination units is expressed as a polynomial function 1+k1r2+k2r4+k3r6+k4r1+k2r3+k3r5, for a distance r from the center image discrimination unit to the corresponding image discrimination unit, k1, k2, k3, k4 respectively represent distortion coefficients of the polynomial function, the distortion coefficients being set according to at least one of lens characteristics, camera mounting errors, camera monitoring areas,
The correction rate setting step includes the steps of: setting correction rate function coefficients of the polynomial function in order to set the variable distortion correction rate;
The image correction value of the interpolation image division unit is set according to the image correction value of the adjacent image division unit, and the image correction value of the interpolation image division unit has a value other than the value between the image correction values of the adjacent image division units.
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